Abstract
Unevenness of rough terrain causes mobile robots to be in the various wheel contact conditions so that the normal force of each wheel is affected by not only vehicle states but also geometry of terrains. For this reason, it is difficult to predict traversability of a mobile robot and maximum friction coefficients while these are key information of unmanned robot companion application. Here, we present a normal force estimation method that uses static equilibrium relation of rough terrain vehicle. The method obtains least-squares solution of static equation formulated with variables from robot configuration and contact angle, and traction force. The method is validated through simulations that show a good agreement of the estimated normal force with the real one. Finally, we present the application where the proposed method is essential.
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